public bool InitializeApplication(Form1 topLevelForm, CaptureDevice i_cap_device)
{
topLevelForm.ClientSize = new Size(SCREEN_WIDTH, SCREEN_HEIGHT);
//キャプチャを作る(QVGAでフレームレートは30)
i_cap_device.SetCaptureListener(this);
i_cap_device.PrepareCapture(SCREEN_WIDTH, SCREEN_HEIGHT, 30);
this._cap = i_cap_device;
//ARの設定
//ARラスタを作る(DirectShowキャプチャ仕様)。
this._raster = new DsRgbRaster(i_cap_device.video_width, i_cap_device.video_height);
//AR用カメラパラメタファイルをロードして設定
NyARParam ap = NyARParam.loadFromARParamFile(File.OpenRead(AR_CAMERA_FILE), SCREEN_WIDTH, SCREEN_HEIGHT);
//AR用のパターンコードを読み出し
NyARCode code = NyARCode.loadFromARPattFile(File.OpenRead(AR_CODE_FILE), 16, 16);
//１パターンのみを追跡するクラスを作成
this._ar = NyARSingleDetectMarker.createInstance(ap, code, 80.0, NyARSingleDetectMarker.PF_NYARTOOLKIT);
//計算モードの設定
this._ar.setContinueMode(true);
//3dデバイスを準備する
this._device = PrepareD3dDevice(topLevelForm);
this._device.RenderState.ZBufferEnable = true;
this._device.RenderState.Lighting = false;
//カメラProjectionの設定
Matrix tmp = new Matrix();
NyARD3dUtil.toCameraFrustumRH(ap.getPerspectiveProjectionMatrix(), ap.getScreenSize(), 1, 10, 10000, ref tmp);
this._device.Transform.Projection = tmp;
// ビュー変換の設定(左手座標系ビュー行列で設定する)
// 0,0,0から、Z+方向を向いて、上方向がY軸
this._device.Transform.View = Matrix.LookAtLH(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 0.0f, 1.0f), new Vector3(0.0f, 1.0f, 0.0f));
Viewport vp = new Viewport();
vp.X = 0;
vp.Y = 0;
vp.Height = ap.getScreenSize().h;
vp.Width = ap.getScreenSize().w;
vp.MaxZ = 1.0f;
//ビューポート設定
this._device.Viewport = vp;
//カラーキューブの描画インスタンス
this._cube = new ColorCube(this._device, 40);
//背景サーフェイスを作成
this._surface = new NyARD3dSurface(this._device, SCREEN_WIDTH, SCREEN_HEIGHT);
this._is_marker_enable = false;
return(true);
}
/**
* この関数は、ARToolKitスタイルのカメラパラメータから、 CameraFrustamを計算します。
* カメラパラメータの要素のうち、ProjectionMatrix成分のみを使います。
* @param i_arparam
* ARToolKitスタイルのカメラパラメータ。
* @param i_scale
* スケール値を指定します。1=1mmです。10ならば1=1cm,1000ならば1=1mです。
* 2.53以前のNyARToolkitと互換性を持たせるときは、{@link #SCALE_FACTOR_toCameraFrustumRH_NYAR2}を指定してください。
* @param i_near
* 視錐体のnearPointを指定します。単位は、i_scaleに設定した値で決まります。
* @param i_far
* 視錐体のfarPointを指定します。単位は、i_scaleに設定した値で決まります。
* @param o_gl_projection
* OpenGLスタイルのProjectionMatrixです。double[16]を指定します。
*/
public static void ToCameraFrustumRH(NyARParam i_arparam, double i_scale, double i_near, double i_far, ref Matrix4x4 o_mat)
{
ToCameraFrustumRH(i_arparam.getPerspectiveProjectionMatrix(), i_arparam.getScreenSize(), i_scale, i_near, i_far, ref o_mat);
return;
}
private Matrix GetProjectionMatrix(NyARParam i_arparam, float near, float far)
{
NyARMat trans_mat = new NyARMat(3, 4);
NyARMat icpara_mat = new NyARMat(3, 4);
double[,] p = new double[3, 3], q = new double[4, 4];
int width, height;
int i, j;
NyARIntSize size = i_arparam.getScreenSize();
width = size.w;
height = size.h;
i_arparam.getPerspectiveProjectionMatrix().decompMat(icpara_mat, trans_mat);
double[][] icpara = icpara_mat.getArray();
double[][] trans = trans_mat.getArray();
for (i = 0; i < 3; i++)
{
for (j = 0; j < 3; j++)
{
p[i, j] = icpara[i][j] / icpara[2][2];
}
}
q[0, 0] = (2.0 * p[0, 0] / (width));
q[0, 1] = (2.0 * p[0, 1] / (width));
q[0, 2] = ((2.0 * p[0, 2] / (width)) - 1.0);
q[0, 3] = 0.0;
q[1, 0] = 0.0;
q[1, 1] = (2.0 * p[1, 1] / (height));
q[1, 2] = ((2.0 * p[1, 2] / (height)) - 1.0);
q[1, 3] = 0.0;
q[2, 0] = 0.0;
q[2, 1] = 0.0;
q[2, 2] = (far + near) / (far - near);
q[2, 3] = -2.0 * far * near / (far - near);
q[3, 0] = 0.0;
q[3, 1] = 0.0;
q[3, 2] = 1.0;
q[3, 3] = 0.0;
Matrix mat = Matrix.Identity;
mat.M11 = (float)(q[0, 0] * trans[0][0] + q[0, 1] * trans[1][0] + q[0, 2] * trans[2][0]);
mat.M12 = (float)(q[1, 0] * trans[0][0] + q[1, 1] * trans[1][0] + q[1, 2] * trans[2][0]);
mat.M13 = (float)(q[2, 0] * trans[0][0] + q[2, 1] * trans[1][0] + q[2, 2] * trans[2][0]);
mat.M14 = (float)(q[3, 0] * trans[0][0] + q[3, 1] * trans[1][0] + q[3, 2] * trans[2][0]);
mat.M21 = (float)(q[0, 1] * trans[0][1] + q[0, 1] * trans[1][1] + q[0, 2] * trans[2][1]);
mat.M22 = (float)(q[1, 1] * trans[0][1] + q[1, 1] * trans[1][1] + q[1, 2] * trans[2][1]);
mat.M23 = (float)(q[2, 1] * trans[0][1] + q[2, 1] * trans[1][1] + q[2, 2] * trans[2][1]);
mat.M24 = (float)(q[3, 1] * trans[0][1] + q[3, 1] * trans[1][1] + q[3, 2] * trans[2][1]);
mat.M31 = (float)(q[0, 2] * trans[0][2] + q[0, 1] * trans[1][2] + q[0, 2] * trans[2][2]);
mat.M32 = (float)(q[1, 2] * trans[0][2] + q[1, 1] * trans[1][2] + q[1, 2] * trans[2][2]);
mat.M33 = -(float)(q[2, 2] * trans[0][2] + q[2, 1] * trans[1][2] + q[2, 2] * trans[2][2]);
mat.M34 = -(float)(q[3, 2] * trans[0][2] + q[3, 1] * trans[1][2] + q[3, 2] * trans[2][2]);
mat.M41 = (float)(q[0, 3] * trans[0][3] + q[0, 1] * trans[1][3] + q[0, 2] * trans[2][3] + q[0, 3]);
mat.M42 = (float)(q[1, 3] * trans[0][3] + q[1, 1] * trans[1][3] + q[1, 2] * trans[2][3] + q[1, 3]);
mat.M43 = (float)(q[2, 3] * trans[0][3] + q[2, 1] * trans[1][3] + q[2, 2] * trans[2][3] + q[2, 3]);
mat.M44 = (float)(q[3, 3] * trans[0][3] + q[3, 1] * trans[1][3] + q[3, 2] * trans[2][3] + q[3, 3]);
return mat;
}
public NyARSingleDetectMarker_NyARTK(NyARParam i_ref_param, NyARCode i_ref_code, double i_marker_width) : base(i_ref_param, i_ref_code, i_marker_width)
{
this._inst_patt = new NyARColorPatt_Perspective(i_ref_code.getWidth(), i_ref_code.getHeight(), 4, 25);
this._transmat = new NyARTransMat(i_ref_param);
this._square_detect = new RleDetector(this, i_ref_param.getScreenSize());
}
public NyARSingleDetectMarker_ARTKv2(NyARParam i_ref_param, NyARCode i_ref_code, double i_marker_width) : base(i_ref_param, i_ref_code, i_marker_width)
{
this._inst_patt = new NyARColorPatt_O3(i_ref_code.getWidth(), i_ref_code.getHeight());
this._transmat = new NyARTransMat_ARToolKit(i_ref_param);
this._square_detect = new ARTKDetector(this, i_ref_param.getScreenSize());
}
public bool InitializeApplication(Form1 topLevelForm, CaptureDevice i_cap_device)
{
topLevelForm.ClientSize = new Size(SCREEN_WIDTH, SCREEN_HEIGHT);
i_cap_device.SetCaptureListener(this);
i_cap_device.PrepareCapture(SCREEN_WIDTH, SCREEN_HEIGHT, 30);
this._cap = i_cap_device;
//this._raster = new DsRgbRaster(i_cap_device.video_width, i_cap_device.video_height,NyARBufferType.BYTE1D_B8G8R8X8_32);
#region my code
try
{
byte[] bimg = service.getb();
//if(bimg != null)
{
Image img = byteToImage(bimg);
if (img != null)
{
//frm.textBox1.Text = img.ToString();
this._raster = new NyARBitmapRaster((Bitmap)img);
}
}
//else
}
catch (Exception x)
{
//MessageBox.Show(x.ToString());
}
#endregion
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(AR_CAMERA_FILE));
ap.changeScreenSize(SCREEN_WIDTH, SCREEN_HEIGHT);
NyARCode code = NyARCode.createFromARPattFile(new StreamReader(AR_CODE_FILE), 16, 16);
this._ar = NyARSingleDetectMarker.createInstance(ap, code, 80.0, NyARSingleDetectMarker.PF_NYARTOOLKIT);
this._ar.setContinueMode(true);
this._device = PrepareD3dDevice(topLevelForm);
this._device.RenderState.ZBufferEnable = true;
this._device.RenderState.Lighting = false;
Matrix tmp = new Matrix();
NyARD3dUtil.toCameraFrustumRH(ap.getPerspectiveProjectionMatrix(), ap.getScreenSize(), 1, 10, 10000, ref tmp);
this._device.Transform.Projection = tmp;
this._device.Transform.View = Matrix.LookAtLH(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 0.0f, 1.0f), new Vector3(0.0f, 1.0f, 0.0f));
Viewport vp = new Viewport();
vp.X = 0;
vp.Y = 0;
vp.Height = ap.getScreenSize().h;
vp.Width = ap.getScreenSize().w;
vp.MaxZ = 1.0f;
this._device.Viewport = vp;
this._cube = new ColorCube(this._device, 40);
this._surface = new NyARD3dSurface(this._device, SCREEN_WIDTH, SCREEN_HEIGHT);
this._is_marker_enable = false;
return(true);
}
public DetectSquare(NyARParam i_param) : base(i_param.getScreenSize())
{
this._match_patt = null;
this._coordline = new NyARCoord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
return;
}
